PROFIBUS DP Actuator Option Card.

Guide for use with Mitsubishi

Qn series PLCs with Profibus mastermodule.Introduction.This guide details the necessary settings andprocedures required to establish Networkedcommunications between a Rotork Actuator anda Mitsubishi Qn PLC using Profibus DP.This document relates to the Profibus module asapplied to an IQ, IQT or Q series valve actuator.

Equipment, Information and Software

required.

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Date of issue: 03/05Page 1 of 5

PLC rack and the slot location. This information

can be obtained by using the System Monitorutility contained in the GX IEC application.

Preparing GX Configurator DP.

In order to correctly parameterise the mastermodule for use with the Rotork interface card, theappropriate GSD files must be made available tothe configuration software. GSD files are addedto the application using the [Setup utility] [GSDDevice-database] management dialogue shownin figure 1.

After selecting [NEW ] from the file menu the

type of master module is selected from a list box.The master module QJ71PB92D should beselected using either mode 0 (32 byte mode) ormode E (extended mode). Mode E is preferred ifthe IEC 61131 editor is being used. Please referto the QJ71PB92D manual for a systemdescription.After selection of the master module the displaychanges to the network display.

Profibus Master Module installation.

The Profibus master module should be mountedinto the PLC rack in accordance with themanufacturers instructions paying particularattention to grounding and termination.It is necessary to identify the address of themaster module as dictated by the position on the

Figure 2. Network display.

PROFIBUS DP Actuator Option Card.

Guide for use with MitsubishiQn series PLCs with Profibus mastermodule.Slaves are added to the network by using theright mouse button and making the Insert DPSlave selection.The available slave database is displayed fromwhich the required Rotork device can be chosendepending on the Profibus interface card fitted inthe actuator and the desired control functionality.

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Watchdog: This function must be enabled.

This function will cause the slave to monitor thestatus of communications with the master.Should the watchdog time out, the slave willappear as a new node when comms are restoredallowing it to be returned to the network by themaster module.Watchdog time: The time interval to be usedwith the watchdog. This may need to beadjusted depending on the speed of the Bus.The time should never be set to zero. TheData Control Time in the Master should be atleast six times longer than this watchdog time.Active: Determines if the slave is physicallyconnected or will be added at a later time.

Figure 3. Slave settings.

When a Slave is selected the following data entryscreen is shown.

Select Modules Button: The slave dialogue

allows the selection of one configuration modulefrom ten modules each offering a variation in thetype and amount of data that can be accessedfrom and sent to the Actuator. We recommendthat config. 1 be used in the first instance.Addresses in Melsec CPU Memory:The data being transmitted across the networkbetween the master module and the slaves isresident inside the master module. To accessthis data, devices must be allocated in the PLCwhich mirror this and can be utilised in the userprogram.Input devices receive data FROM the networkwhile output devices SEND data to the network.

Figure. 4. Slave settings.

Swap I/O Bytes in the Master:

This should always be set by clicking with theleft mouse button. The actuator presents itsdata in word format while the master moduleexchanges data with the actuator in bytes. Dueto this method of data exchange the upper andlower bytes will be swapped unless this feature isused.

The following settings are required to be input.

Name: The name of the slave can be chosen fordocumentation purposes only.FDL Address: Field device list address whichcan be chosen in the range from 0 to 125.Address 0 should be avoided if possible.

Other parameters should not be changed

without reference to the master modulemanual.When the slaves have been added to thenetwork the master module settings should bemade. Double clicking on the master moduleicon willopen the settings dialogue. See figure 5.

PROFIBUS DP Actuator Option Card.

Guide for use with MitsubishiQn series PLCs with Profibus mastermodule.

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Date of issue: 03/05Page 3 of 5

Autom. Refresh: This determines if the PLC and

master module will exchange data with eachother under the control of a user program orautomatically. The type of devices on thenetwork and control methods required willdetermine if this option can be used. It is aglobal setting for all slaves.If Autom. Refresh is not enabled the CreatePOU facility can be used to automatically makea POU for import into a GX IEC developerproject.

Figure 5. Master module settings.

The master module will default to the settingsshown in figure 5. Changing the baud rate willNOT adjust the timing settings automatically.Where required settings should be made asfollows:Name: This is an optional setting and defaults tothe module name in use.

It is recommended that no changes be made

to the Bus Param settings withoutreference to the Mitsubishi master modulemanual. Serious failure of the network mayotherwise occur.The figure below shows a configured project withone Actuator. The user configured node addressin this case is [5] with a slave tag of Actuator_5.The master module organises the exchange ofdata with the network using this logical nodeaddress.

Baud rate: Determines the speed of the data

communications which is directly related to thelength of the Bus length. For guidance on thephysical construction of the network refer to theRotork publication S420E V3.0.FDL address: A unique field address identifier inthe range 0 125. Station 0 should be avoided.Head Address on PLC: This represents theposition of the master module in input/outputaddressing terms and is wholly dependant onother modules installed in the PLC rack. Forconfirmation of the rack addressing the SystemMonitor utility can be used in GX IEC developer.Error Action Flag: If used this will cause allActuator outputs to be turned off in the event of anetwork error.Data Control Time: This defines the period inwhich the master module will decide if a slave isno longer communicating on the network. It hasa direct relationship with the slave watchdog timeand should be set to a value six times theshortest slave watchdog time.

Figure 6. Network with one node.

Caution. It is recommended that nodes are

addressed sequentially with no gaps. As there isa direct relationship between the node addressand the location of the data mapped to themaster module input/output image area, addingnodes at a later stage with addresses betweenexisting nodes will change the location of thedata for ALL devices after the new node. ThePLC will therefore receive incorrect informationrequiring that the user program be changed.

PROFIBUS DP Actuator Option Card.

Guide for use with MitsubishiQn series PLCs with Profibus mastermodule.

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Date of issue: 03/05Page 4 of 5

Configuration, parameterisation and data linking

will take place.NOTE. Performing a reset at the PLC CPUwill cause the master module to restart thenetwork and re-configure and reparameterise all slaves.

Downloading the Project to the master

module.

Variations in Configuration including System

and Flying Redundancy.System Redundancy.This configuration provides two separate datahighway connections to an Actuator, each beingcontrolled by a master module.Figure 7. Transfer setup screen.Figure 7. shows the transfer settings dialogue forGX Configurator DP. Multiple connection pathscan be configured to send a project to more thanone master module. This allowsparameterisation of redundant systems orduplicate networks to be easily made. It shouldbe noted that it is the physical slot numberoccupied by the module, in this case slot number9, which is required in this setup. Where a PLCsystem with a multiple rack configuration isconcerned, the slots are counted from the right ofthe CPU starting with Slot 0. See below.

PSU

CPU

10

11

12

13

14

15

Figure 8. Slot configuration Qn PLC.

Connection to the master module is achievedthrough the PLC CPU programming port usingeither RS232 or USB (Q02H or higher).After testing the PLC communications, theproject can be downloaded to the master moduleafter which the network can be started manuallyfrom the dialogue box then showing.

Using Simple or Redcom dual interfaces an

identical configuration can be used in each of theBus masters. This is allowable as both channelsof the network assume the same node address.In the SR mode, when the card is powered on,Channel 1 will be the Primary channel. If the carddoes not enter Configuration Mode within 2seconds (because there is no master present)then Channel 2 will take over as Primary, now ifthere is no communication within 4 seconds,then it will revert to Channel 1 and now it will wait8 seconds before Channel 2 assumes Primarystatus. The switch over time will increase by afactor of 2 each time until it reaches its maximumof 32 seconds. It will continue to switch channelsusing a 32 second switch over time until onechannel receives PLC messages.In the event of a failure of the Primary channelthe Backup automatically changes to becomePrimary and communication will be establishedwith the Second master on the second highway.The Backup channel can be used for exchangingdata but any commands to move the actuatordirected to the backup channel will be ignored. Ifa configuration message is sent to the Backupchannel that is different to the one sent to thePrimary it will be accepted but not acted upon.The data exchanged between the master andthe Primary includes information on the status ofthe device and hence the availability of a Backupshould the Primary fail.Flying Redundancy.This provides a single physical data highwayconnected to both channels of a Profibus dualinterface using a similar configuration in each ofTWO Bus masters. The master modules musthave different addresses.

PROFIBUS DP Actuator Option Card.

Guide for use with MitsubishiQn series PLCs with Profibus mastermodule.A slave node is configured for both ports of theinterface, an offset of 64 between each address.For example, an actuator with a Primary slaveaddress of 5 will require the secondary portaddress to be 69.It must be remembered that this limits themaximum device address to 61 since the secondport address will need to be less than 126(61+64=125).

Figure 9. Configuration showing two slave

nodes for a single Actuator. Primary address of5.When the card is powered on, Channel 1 will bethe Primary channel. If the card does not enterConfiguration Mode within 2 seconds (becausethere is no master present) then Channel 2 willtake over as Primary, once again if there is nocommunication within 4 seconds, then it willrevert to Channel 1 and now it will wait 8seconds before Channel 2 assumes Primarystatus. The switch over time will increase by afactor of 2 each time until it reaches its maximumof 32 seconds.

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It will continue to switch channels using a 32

second switch over time until one channelreceives PLC messages.In the event of a failure of the Primary channel,the Backup automatically changes to use thePrimary address. Hence for all control purposesthe Master only uses the Primary address. TheBackup address can be used for exchangingdata but any commands to move the actuatordirected to the backup address will be ignored. Ifa configuration message is sent to the Backupaddress that is different to the one sent to thePrimary address it will be accepted, but notactioned. The data exchanged between themaster and the Primary includes information onthe status of the device and hence the availabilityof a Backup should the Primary fail.RedCom.The Rotork Profibus DP (Mk2) RedCom DualChannel Option Card (RTRR0845.gsd) obeysthe Profibus REDCOM Specification forRedundant Communications. This includes 3bytes of Extended Diagnostics for RedState.The QJ71PB92D master module will accept theGSD file and will control the network correctly.However when the Actuator issues a RedCommessage the QJ71PB92D displays the errorLED.This error is not fatal and the network willcontinue to run.The RedCom mode can be disabled by changingparameter 15 in the GSD file to the appropriatevalue. Allowable values can be found if the GSDis read with a suitable text editor such asnotepad.

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to amend and change specifications without prior notice.Published data may be subject to change.For the very latest version release, visit our web site at www.rotork.comThe name Rotork is a registered trademark.Rotork recognises all registered trademarks